Mitsubishi CR750-Q Series User Manual

13 Calibration of Conveyer and Robot Coordinate Systems ( “ A1 ” program)
6) Press the [FUNCTION] key, and change the function display
7) Press the [F1] (FWD) key and execute step feed. "(1)Encoder No ......." is displayed
8) Work according to the comment directions in the robot program.
9) Next "' (2) On conveyor both .. Execute step feed to ".
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the
program.
Figure 13
−1 Conveyer and Robot Calibration Operation Diagram
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
CLOSE
DIRECT
CHANGE
挿入
123
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> A1
STEP (1 ）
CLOSE
○
○
○
123
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> A1
10 If PE.X<1 Or PE.X>MECMAX Then Er
11 MENCNO=PE.X
12 '(2)On conveyor both ....
9 MECMAX=8
BWD
FWD
JUMP
挿入
123
<PROGRAM> A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1)Encoder No. ....
4 '# Create/version : 2006.04.21 A1
BWD
FWD
JUMP
挿入
123
<プログラム> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
BWD
FWD
JUMP
挿入
123
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
(1) Attach a sticker
Encoder data acquisition
Position acquisition
Area recognized by
a workpiece sensor
(2) Robot movement
(3) Z-axis elevation
(4) Sticker movement
(5) Robot movement
(6) Z-axis elevation
Encoder data acquisition
Position acquisition
* (1) - (6) in the figure shows the details of operations in the sample program.
13-50 Operation procedure

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English